Is there a way to change the color of keyframes?
There is a way to change the colors of all keyframes. If you go into the user preferences and go to Themes &gt; Dope Sheet then you can change the colors of selected and unselected keyframes.
I could be wrong, but after using Blender for two or three years I have not seen a way to change keyframe colors for individual bones. Would be a nice feature have for sure.